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Generic6DOFJoint3D¶

Inherits: Joint3D < Node3D < Node < Object

The generic 6-degrees-of-freedom joint can implement a variety of joint types by locking certain axes' rotation or translation.

Description¶

The first 3 DOF axes are linear axes, which represent translation of Bodies, and the latter 3 DOF axes represent the angular motion. Each axis can be either locked, or limited.

Properties¶

float	angular_limit_x/damping	`1.0`
bool	angular_limit_x/enabled	`true`
float	angular_limit_x/erp	`0.5`
float	angular_limit_x/force_limit	`0.0`
float	angular_limit_x/lower_angle	`0.0`
float	angular_limit_x/restitution	`0.0`
float	angular_limit_x/softness	`0.5`
float	angular_limit_x/upper_angle	`0.0`
float	angular_limit_y/damping	`1.0`
bool	angular_limit_y/enabled	`true`
float	angular_limit_y/erp	`0.5`
float	angular_limit_y/force_limit	`0.0`
float	angular_limit_y/lower_angle	`0.0`
float	angular_limit_y/restitution	`0.0`
float	angular_limit_y/softness	`0.5`
float	angular_limit_y/upper_angle	`0.0`
float	angular_limit_z/damping	`1.0`
bool	angular_limit_z/enabled	`true`
float	angular_limit_z/erp	`0.5`
float	angular_limit_z/force_limit	`0.0`
float	angular_limit_z/lower_angle	`0.0`
float	angular_limit_z/restitution	`0.0`
float	angular_limit_z/softness	`0.5`
float	angular_limit_z/upper_angle	`0.0`
bool	angular_motor_x/enabled	`false`
float	angular_motor_x/force_limit	`300.0`
float	angular_motor_x/target_velocity	`0.0`
bool	angular_motor_y/enabled	`false`
float	angular_motor_y/force_limit	`300.0`
float	angular_motor_y/target_velocity	`0.0`
bool	angular_motor_z/enabled	`false`
float	angular_motor_z/force_limit	`300.0`
float	angular_motor_z/target_velocity	`0.0`
float	angular_spring_x/damping	`0.0`
bool	angular_spring_x/enabled	`false`
float	angular_spring_x/equilibrium_point	`0.0`
float	angular_spring_x/stiffness	`0.0`
float	angular_spring_y/damping	`0.0`
bool	angular_spring_y/enabled	`false`
float	angular_spring_y/equilibrium_point	`0.0`
float	angular_spring_y/stiffness	`0.0`
float	angular_spring_z/damping	`0.0`
bool	angular_spring_z/enabled	`false`
float	angular_spring_z/equilibrium_point	`0.0`
float	angular_spring_z/stiffness	`0.0`
float	linear_limit_x/damping	`1.0`
bool	linear_limit_x/enabled	`true`
float	linear_limit_x/lower_distance	`0.0`
float	linear_limit_x/restitution	`0.5`
float	linear_limit_x/softness	`0.7`
float	linear_limit_x/upper_distance	`0.0`
float	linear_limit_y/damping	`1.0`
bool	linear_limit_y/enabled	`true`
float	linear_limit_y/lower_distance	`0.0`
float	linear_limit_y/restitution	`0.5`
float	linear_limit_y/softness	`0.7`
float	linear_limit_y/upper_distance	`0.0`
float	linear_limit_z/damping	`1.0`
bool	linear_limit_z/enabled	`true`
float	linear_limit_z/lower_distance	`0.0`
float	linear_limit_z/restitution	`0.5`
float	linear_limit_z/softness	`0.7`
float	linear_limit_z/upper_distance	`0.0`
bool	linear_motor_x/enabled	`false`
float	linear_motor_x/force_limit	`0.0`
float	linear_motor_x/target_velocity	`0.0`
bool	linear_motor_y/enabled	`false`
float	linear_motor_y/force_limit	`0.0`
float	linear_motor_y/target_velocity	`0.0`
bool	linear_motor_z/enabled	`false`
float	linear_motor_z/force_limit	`0.0`
float	linear_motor_z/target_velocity	`0.0`
float	linear_spring_x/damping	`0.01`
bool	linear_spring_x/enabled	`false`
float	linear_spring_x/equilibrium_point	`0.0`
float	linear_spring_x/stiffness	`0.01`
float	linear_spring_y/damping	`0.01`
bool	linear_spring_y/enabled	`false`
float	linear_spring_y/equilibrium_point	`0.0`
float	linear_spring_y/stiffness	`0.01`
float	linear_spring_z/damping	`0.01`
bool	linear_spring_z/enabled	`false`
float	linear_spring_z/equilibrium_point	`0.0`
float	linear_spring_z/stiffness	`0.01`

Methods¶

bool	get_flag_x ( Flag flag ) const
bool	get_flag_y ( Flag flag ) const
bool	get_flag_z ( Flag flag ) const
float	get_param_x ( Param param ) const
float	get_param_y ( Param param ) const
float	get_param_z ( Param param ) const
void	set_flag_x ( Flag flag, bool value )
void	set_flag_y ( Flag flag, bool value )
void	set_flag_z ( Flag flag, bool value )
void	set_param_x ( Param param, float value )
void	set_param_y ( Param param, float value )
void	set_param_z ( Param param, float value )

Enumerations¶

enum Param:

Param PARAM_LINEAR_LOWER_LIMIT = 0

The minimum difference between the pivot points' axes.

Param PARAM_LINEAR_UPPER_LIMIT = 1

The maximum difference between the pivot points' axes.

Param PARAM_LINEAR_LIMIT_SOFTNESS = 2

A factor applied to the movement across the axes. The lower, the slower the movement.

Param PARAM_LINEAR_RESTITUTION = 3

The amount of restitution on the axes' movement. The lower, the more momentum gets lost.

Param PARAM_LINEAR_DAMPING = 4

The amount of damping that happens at the linear motion across the axes.

Param PARAM_LINEAR_MOTOR_TARGET_VELOCITY = 5

The velocity the linear motor will try to reach.

Param PARAM_LINEAR_MOTOR_FORCE_LIMIT = 6

The maximum force the linear motor will apply while trying to reach the velocity target.

Param PARAM_LINEAR_SPRING_STIFFNESS = 7

Param PARAM_LINEAR_SPRING_DAMPING = 8

Param PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT = 9

Param PARAM_ANGULAR_LOWER_LIMIT = 10

The minimum rotation in negative direction to break loose and rotate around the axes.

Param PARAM_ANGULAR_UPPER_LIMIT = 11

The minimum rotation in positive direction to break loose and rotate around the axes.

Param PARAM_ANGULAR_LIMIT_SOFTNESS = 12

The speed of all rotations across the axes.

Param PARAM_ANGULAR_DAMPING = 13

The amount of rotational damping across the axes. The lower, the more damping occurs.

Param PARAM_ANGULAR_RESTITUTION = 14

The amount of rotational restitution across the axes. The lower, the more restitution occurs.

Param PARAM_ANGULAR_FORCE_LIMIT = 15

The maximum amount of force that can occur, when rotating around the axes.

Param PARAM_ANGULAR_ERP = 16

When rotating across the axes, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.

Param PARAM_ANGULAR_MOTOR_TARGET_VELOCITY = 17

Target speed for the motor at the axes.

Param PARAM_ANGULAR_MOTOR_FORCE_LIMIT = 18

Maximum acceleration for the motor at the axes.

Param PARAM_ANGULAR_SPRING_STIFFNESS = 19

Param PARAM_ANGULAR_SPRING_DAMPING = 20

Param PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT = 21

Param PARAM_MAX = 22

Represents the size of the Param enum.

enum Flag:

Flag FLAG_ENABLE_LINEAR_LIMIT = 0

If enabled, linear motion is possible within the given limits.

Flag FLAG_ENABLE_ANGULAR_LIMIT = 1

If enabled, rotational motion is possible within the given limits.

Flag FLAG_ENABLE_LINEAR_SPRING = 3

Flag FLAG_ENABLE_ANGULAR_SPRING = 2

Flag FLAG_ENABLE_MOTOR = 4

If enabled, there is a rotational motor across these axes.

Flag FLAG_ENABLE_LINEAR_MOTOR = 5

If enabled, there is a linear motor across these axes.

Flag FLAG_MAX = 6

Represents the size of the Flag enum.

Property Descriptions¶

float angular_limit_x/damping = 1.0

void set_param_x ( Param param, float value )
float get_param_x ( Param param ) const

The amount of rotational damping across the X axis.

The lower, the longer an impulse from one side takes to travel to the other side.

bool angular_limit_x/enabled = true

void set_flag_x ( Flag flag, bool value )
bool get_flag_x ( Flag flag ) const

If true, rotation across the X axis is limited.

float angular_limit_x/erp = 0.5

void set_param_x ( Param param, float value )